Robot micro motor end cover drilling equipment and using method

Abstract

The invention relates to the technical field of end cover punching, in particular to robot micro motor end cover punching equipment and a using method, the robot micro motor end cover punching equipment comprises a base, a drilling machine is arranged on the upper side of the base, a ring seat is fixedly connected to the interior of the base, and an inner support for bearing an end cover is arranged in the middle of the ring seat. According to the robot micro motor end cover punching equipment and the using method, an end cover extrudes a clamping block along a bevel opening to retract into a sliding groove till the end cover falls on an inner support, at the moment, the clamping block resets and pops up to be clamped on the upper side of the end cover and is matched with the inner support to limit up-down movement of the end cover, and when the clamping block pops up, a clamping plate at the bottom of the clamping block synchronously abuts against the side edge of the end cover; compared with an existing transverse clamping structure, the clamping block can be automatically buckled and pressed when the end cover is pressed downwards through the oblique opening, the clamping block is matched with the clamping plate to achieve the dual functions of clamping and centering the end cover at the same time, operation is simpler, and the manual operation difficulty is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of end cover punching, and in particular to a robot micro motor end cover punching device and a use method thereof. Background Art

[0002] Modern robots require a large number of micro motors. For example, micro brushless motors, as the "precision joints" of robots, have a penetration rate of over 65% in collaborative robot joint modules. Boston Dynamics' latest all-electric Atlas robot uses an electric drive solution instead of a hydraulic system, verifying the advantages of micro motors in improving flexibility and commercialization potential. And dexterous hands are the key to the generalization ability of humanoid robots, which require micro motors to achieve high-precision operations.

[0003] The motor end cover is a protective and positioning component installed at both ends of the motor housing. By connecting the rotor and the base, it maintains the precise position relationship between the stator and the rotor, and protects the inside of the motor from the external environment. Its typical structure includes a stopper that matches the base, a bearing mounting hole, and a heat dissipation hole.

[0004] Regarding the drilling positions of the motor end cover, in addition to the holes for installation, they generally include the surrounding area of ​​the bearing room, the stop processing area, and the installation position of additional equipment.

[0005] The existing patent (publication number: CN116532682B) discloses a micro motor end cover punching device, including a fixing mechanism, the fixing mechanism includes a clamping assembly fixedly connected to the inner wall of the base, the inner wall of the base is fixedly connected with four cylinders 1, the outer wall of the cylinder is slidably connected with a connecting plate 2, the two sides of the connecting plate 2 away from the inner wall of the base are respectively fixedly connected with a spring 1, the top of the connecting plate 2 is provided with a slide groove, the center of the connecting plate 2 away from the inner wall of the base is fixedly connected with a clamping head 1, the inner wall of the slide groove is slidably connected with a slide rod 3, and the outer wall of the slide rod 3 is slidably connected to a track 1; the connecting rod 1 is driven to move by rotating the ring 2, so that the clamping head 2 is clamped in the center, so that the position of the motor cover after being fixed is in the middle.

[0006] The end cap fixing structure of the above-mentioned prior art needle requires manual opening and closing operations, which is inconvenient to operate, and the end cap needs to be manually adjusted to a uniform fixed position before punching to ensure the punching effect.

[0007] In view of this, we propose a robot micro motor end cover punching device and a method of use. Summary of the invention

[0008] The purpose of the present invention is to provide a robot micro motor end cap punching device and a method of use, so as to solve the problem that the end cap fixing structure of the prior art needle proposed in the above background technology needs to be manually opened and closed, the operation convenience is poor, and the end cap needs to be manually adjusted to a uniform fixed position before punching to ensure the punching effect. To achieve the above purpose, the present invention provides the following technical solutions: a robot micro motor end cap punching device, including a base, and a drilling machine is arranged on the upper side of the base, a ring seat is fixedly connected to the inside of the base, and an inner support for carrying the end cap is arranged in the middle of the ring seat, a plurality of slide grooves are opened on the inner ring of the ring seat, and a card block is slidably connected in the slide groove, a spring is arranged in the slide groove, and the spring pushes the card block to slide outward along the slide groove, an oblique opening is opened on the top of the card block, and a card plate is fixedly connected to the bottom of the card block, and a press pin is fixedly connected to the bottom of the card plate.

[0009] The inner bottom wall of the base is provided with an annular groove, and a ring frame is rotatably connected in the annular groove. The top of the annular frame is provided with an annular array of helical teeth matching with the pressing pin, and a plurality of magnetic blocks matching with the end cover are fixedly arranged on the annular frame.

[0010] Preferably, a side surface of the clamping plate is provided with a clamping groove matching with the end cover.

[0011] Preferably, a spring piece is fixedly connected to the oblique opening, and a through hole penetrating the card plate and communicating with the card slot is opened on the oblique opening, a latch is slidably connected in the through hole, and the top end of the latch is fixedly connected to the spring piece.

[0012] A first bevel for engaging the end cover is cut on one side of the bottom end of the latch pin opposite to the slot opening, and a second bevel for releasing the end cover is cut on one end of the bottom end of the latch pin opposite to the slide slot.

[0013] Preferably, a top cover with a semicircular structure is fixedly provided on the top of the base, and two screw rods controlled by a motor are rotatably provided on the inner side of the top cover, and ring rails are movably connected to the two screw rods in the up and down directions, and a rotating frame controlled by a motor is rotatably provided on the inner side of the ring rail, and a slide seat controlled by the motor is slidably connected to the rotating frame, and the drilling machine is fixedly mounted on the slide seat.

[0014] Preferably, a plurality of positioning magnetic seats cooperating with the magnetic blocks are fixedly disposed inside the base.

[0015] Preferably, the top of the ring seat is rotatably connected to a control ring, and the surface of the control ring is provided with an oblique groove corresponding to the blocking block, the top of the ring seat is provided with a through groove connected to the sliding groove, the top of the blocking block is fixedly connected to a connecting rod, and the connecting rod passes through the through groove and extends into the oblique groove.

[0016] Preferably, the top of the inner support is rolled with a plurality of balls that cooperate with the end cover.

[0017] A method for using a robot micro motor end cover punching device comprises the following steps: S1. Place the end cap of the robot micro motor to be processed into the ring seat and press it down. The end cap squeezes the card block along the oblique mouth and retracts into the slide slot until the end cap falls on the inner support. At this time, the card block resets and pops out to be stuck on the upper side of the end cap, and cooperates with the inner support to limit the up and down movement of the end cap. When the card block pops out, the card plate at the bottom of it is synchronously pressed against the side of the end cap to limit the translation of the end cap. S2. After the end cover is completed, the slide moves along the rotating frame to drive the drilling machine to move horizontally to adjust the drilling position. Before moving horizontally, the rotating frame adjusts the translation direction along the ring rail to adjust the drilling range, and then the screw rod is rotated to drive the ring rail and the drilling machine to move up and down to perform drilling; S3, when the card block rebounds under pressure, the pressing pin moves synchronously and pushes the ring frame to rotate along the bevel teeth. During this process, the magnetic block on the ring frame exerts magnetic traction along the connecting block of the outer ring of the end cover, so that the end cover rotates along the inner support until the connecting block is horizontally inserted into the card slot; S4. When the connecting block of the end cover enters the slot, the connecting block pushes up the pin along the first oblique side so that the pin is inserted into the hole on the surface of the connecting block. At this time, the end cover cannot rotate along the slot. After the punching is completed, the control ring is used to control the block to retract into the slide slot, and the pin is pushed up along the second oblique side, so that the card plate and the connecting block are unlocked.

[0018] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the card block is squeezed into the slide groove by the end cover along the oblique mouth until the end cover falls on the inner support. At this time, the card block is reset and pops out to be stuck on the upper side of the end cover, and cooperates with the inner support to limit the up and down movement of the end cover. When the card block pops out, the card plate at the bottom of it is simultaneously pressed against the side of the end cover to limit the translation of the end cover. Compared with the existing horizontal clamping structure, the above-mentioned card block can be automatically buckled when the end cover is pressed down by utilizing the oblique mouth, and can simultaneously realize the dual functions of clamping and centering the end cover in cooperation with the card plate, and the operation is simpler, reducing the difficulty of manual operation.

[0019] In the present invention, the ring frame is pushed to rotate along the bevel teeth by the pressing pin. During this process, the magnetic block on the ring frame applies magnetic traction along the connecting block of the outer ring of the end cover, so that the end cover rotates along the inner support until the connecting block is horizontally inserted into the card slot. In this way, during the process of fixing the end cover, the position of the end cover is automatically adjusted by utilizing the movement of the card block, so that after the end cover is installed, a uniform punching effect can be ensured without manual adjustment, thereby reducing manual assistance and improving the punching efficiency.

[0020] In the present invention, the connecting block is used to push up the latch along the first oblique side so that the latch is inserted into the hole on the surface of the connecting block. At this time, the end cover cannot rotate along the card slot. After the drilling is completed, the control ring is used to control the card block to retract into the slide slot, and the latch is pushed up along the second oblique side so that the card plate and the connecting block are unlocked. In this way, the latch is used to realize the dual functions of locking and quickly unlocking the end cover, and when the functions are increased, the disassembly and assembly of the end cover will not be more complicated. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 For the present invention Figure 1 The enlarged view of point A in the middle; Figure 3 It is a schematic diagram of the structure of the end cover, the ring seat and the inner support of the present invention; Figure 4 It is an exploded view of the ring seat, the clamping block and the control ring of the present invention; Figure 5 It is a structural schematic diagram of the clamping block and the spring of the present invention; Figure 6 It is a three-dimensional structural cross-sectional view of the ring seat of the present invention; Figure 7 For the present invention Figure 6 The enlarged view of point B in the middle; Figure 8 The three-dimensional structure of the card block of the present invention is shown in FIG. Figure 1 ; Fig. 9 The three-dimensional structure of the card block of the present invention is shown in FIG. Figure 2 .

[0022] In the figure: 1, base; 2, drilling machine; 3, ring seat; 4, inner support; 5, slide groove; 6, clamp block; 7, spring; 8, oblique mouth; 9, clamp plate; 10, press pin; 11, ring groove; 12, ring frame; 13, oblique teeth; 14, magnetic block; 15, clamp groove; 16, spring piece; 17, through hole; 18, latch; 19, first bevel; 20, second bevel; 21, top cover; 22, screw rod; 23, ring rail; 24, rotating frame; 25, slide seat; 26, positioning magnetic seat; 27, control ring; 28, oblique groove; 29, through groove; 30, connecting rod. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technical staff in this field without creative work are within the scope of protection of the present invention.

[0024] See also Figures 1 to 9 The present invention provides a technical solution: a robot micro motor end cover punching device, comprising a base 1, and a drilling machine 2 is arranged on the upper side of the base 1, a ring seat 3 is fixedly connected to the inside of the base 1, and an inner support 4 for carrying the end cover is arranged in the middle of the ring seat 3, a plurality of slide grooves 5 are arranged on the inner circle of the ring seat 3, and a card block 6 is slidably connected in the slide groove 5, a spring 7 is arranged in the slide groove 5, and the spring 7 pushes the card block 6 to slide outward along the slide groove 5, an oblique opening 8 is arranged on the top of the card block 6, and a card plate 9 is fixedly connected to the bottom of the card block 6, and the end cover to be processed of the robot micro motor is placed The ring seat 3 is pressed down, and the end cover squeezes the card block 6 along the oblique opening 8 and retracts into the slide groove 5 until the end cover falls on the inner support 4. At this time, the card block 6 is reset and popped out to be stuck on the upper side of the end cover, and cooperates with the inner support 4 to limit the up and down movement of the end cover, and when the card block 6 pops out, the card plate 9 at the bottom thereof is synchronously pressed against the side of the end cover to limit the translation of the end cover. A pressing pin 10 is fixedly connected to the bottom of the card plate 9. When the card block 6 rebounds under pressure, the pressing pin 10 moves synchronously. A pin groove matching the pressing pin 10 is opened in the slide groove 5. When the card block 6 is retracted into the slide groove 5, the pressing pin 10 enters the pin groove synchronously. An annular groove 11 is provided on the inner bottom wall of the base 1, and a ring frame 12 is rotatably connected in the annular groove 11. A ring frame 12 is provided on the top of the ring frame 12 with an annular array of bevel teeth 13 that cooperate with the pressing pin 10, and a plurality of magnetic blocks 14 that cooperate with the end cover are fixedly arranged on the ring frame 12. When the pressing pin 10 moves, the ring frame 12 is pushed to rotate along the bevel teeth 13. During this process, the magnetic block 14 on the ring frame 12 applies magnetic traction along the connecting block of the outer ring of the end cover, so that the end cover rotates along the inner support 4. In another embodiment, the magnetic block 14 here is replaced by a plastic rod, which is used to push the end cover of aluminum alloy. When the connecting block of the outer ring of the end cover is aligned, the plastic rod can be bent under pressure and the rotation of the ring frame 12 will not be stopped.

[0025] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figures 5 to 9 As shown, a slot 15 matching with the end cover is formed on the side surface of the clamping plate 9 , and the end cover rotates along the inner support 4 until the connecting block is horizontally inserted into the slot 15 .

[0026] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figures 5 to 9 As shown, a spring piece 16 is fixedly connected to the oblique opening 8, and a through hole 17 is opened on the oblique opening 8 to pass through the card plate 9 and communicate with the card slot 15. A latch 18 is slidably connected in the through hole 17, and the top of the latch 18 is fixedly connected to the spring piece 16; A first bevel 19 for engaging the end cover is cut on the side of the bottom end of the latch 18 opposite to the opening of the slot 15, and a second bevel 20 for releasing the end cover is cut on the end of the bottom end of the latch 18 opposite to the slide slot 5. When the connecting block of the end cover enters the slot 15, the connecting block lifts the latch 18 along the first bevel 19, so that the latch 18 is inserted into the hole on the surface of the connecting block. At this time, the end cover cannot rotate along the slot 15. After the drilling is completed, when the control ring 27 is used to control the block 6 to retract into the slide slot 5, the latch 18 is lifted along the second bevel 20, so that the card plate 9 and the connecting block are unlocked.

[0027] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figures 5 to 9 As shown, a semicircular top cover 21 is fixedly provided on the top of the base 1, and two screw rods 22 controlled by a motor are rotatably provided on the inner side of the top cover 21, and an annular rail 23 is movably connected to the two screw rods 22 in the up and down direction, and a rotating frame 24 controlled by a motor is rotatably provided on the inner side of the annular rail 23, and a slide seat 25 controlled by the motor is slidably connected to the rotating frame 24, and the drilling machine 2 is fixedly installed on the slide seat 25. When the screw rod 22 rotates, it drives the annular rail 23 and the drilling machine 2 to move up and down to perform drilling. When the slide seat 25 moves along the rotating frame 24, it drives the drilling machine 2 to translate to adjust the drilling position. Before the translation, the rotating frame 24 is adjusted in the translation direction along the annular rail 23 to increase the drilling range.

[0028] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figures 5 to 9 As shown, a plurality of positioning magnetic seats 26 cooperating with the magnetic block 14 are fixedly arranged inside the base 1. After the rotating ring frame 12 uses the magnetic block 14 to drive the end cover to align, the magnetic block 14 on the gradually decelerating ring frame 12 will be captured by the positioning magnetic seat 26, so that the bevel teeth 13 are always in a preset position that can cooperate with the pressing pin 10.

[0029] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figures 5 to 9 As shown, the top of the ring seat 3 is rotatably connected to a control ring 27, and the surface of the control ring 27 is provided with an inclined groove 28 corresponding to the block 6, the top of the ring seat 3 is provided with a through groove 29 connected to the slide groove 5, the top of the block 6 is fixedly connected to a connecting rod 30, and the connecting rod 30 passes through the through groove 29 and extends into the inclined groove 28. By rotating the control ring 27, the circular motion of the inclined groove 28 can be used to push the block 6 along the connecting rod 30 to retract into the slide groove 5, thereby controlling all the blocks 6 to unlock the end cover.

[0030] In this embodiment, Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figures 5 to 9 As shown, the top of the inner support 4 is provided with a plurality of rolling balls that cooperate with the end cover. When the end cover rotates along the inner support 4, the friction between the two can be reduced by the balls, thereby improving the smoothness of operation.

[0031] A method for using a robot micro motor end cover punching device comprises the following steps: S1. Place the end cap of the robot micro motor to be processed into the ring seat 3 and press it down. The end cap squeezes the card block 6 along the oblique opening 8 and retracts into the slide groove 5 until the end cap falls on the inner support 4. At this time, the card block 6 is reset and popped out to be stuck on the upper side of the end cap, and cooperates with the inner support 4 to limit the up and down movement of the end cap. When the card block 6 pops out, the card plate 9 at the bottom thereof is synchronously pressed against the side of the end cap to limit the translation of the end cap. S2. After the end cover is completed, the slide 25 moves along the rotating frame 24 to drive the drilling machine 2 to translate and adjust the drilling position. Before the translation, the rotating frame 24 adjusts the translation direction along the ring rail 23 to adjust the drilling range, and then the screw rod 22 is rotated to drive the ring rail 23 and the drilling machine 2 to move up and down to perform drilling; S3, when the clamping block 6 rebounds under pressure, the pressing pin 10 moves synchronously and pushes the ring frame 12 to rotate along the bevel teeth 13. During this process, the magnetic block 14 on the ring frame 12 applies magnetic traction along the connecting block of the outer ring of the end cover, so that the end cover rotates along the inner support 4 until the connecting block is horizontally inserted into the clamping slot 15; S4. When the connecting block of the end cover enters the slot 15, the connecting block pushes up the latch 18 along the first bevel 19, so that the latch 18 is inserted into the hole on the surface of the connecting block. At this time, the end cover cannot rotate along the slot 15. After the punching is completed, the control ring 27 is used to control the block 6 to retract into the slide groove 5, and the latch 18 is pushed up along the second bevel 20, so that the card plate 9 and the connecting block are unlocked.

[0032] The above shows and describes the basic principles, main features and advantages of the present invention. Technical personnel in this industry should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A robot micro motor end cap punching device, comprising a base (1), and a drilling machine (2) is arranged on the upper side of the base (1), characterized in that: A ring seat (3) is fixedly connected to the inside of the base (1), and an inner support (4) for carrying the end cover is arranged in the middle of the ring seat (3), a plurality of slide grooves (5) are arranged on the inner ring of the ring seat (3), and a clamping block (6) is slidably connected in the slide groove (5), a spring (7) is arranged in the slide groove (5), and the spring (7) pushes the clamping block (6) to slide outward along the slide groove (5), an oblique opening (8) is arranged on the top of the clamping block (6), and a clamping plate (9) is fixedly connected to the bottom of the clamping block (6), and a pressing pin (10) is fixedly connected to the bottom of the clamping plate (9); The inner bottom wall of the base (1) is provided with an annular groove (11), and a ring frame (12) is rotatably connected in the annular groove (11). The top of the annular frame (12) is provided with an annular array of helical teeth (13) that match the pressing pin (10), and a plurality of magnetic blocks (14) that match the end cover are fixedly arranged on the annular frame (12).

2. A robot micro motor end cap punching device according to claim 1, characterized in that: A clamping groove (15) matching with the end cover is formed on the side surface of the clamping plate (9).

3. A robot micro motor end cap punching device according to claim 2, characterized in that: A spring piece (16) is fixedly connected to the oblique opening (8), and a through hole (17) is provided on the oblique opening (8) that passes through the card plate (9) and communicates with the card slot (15). A latch (18) is slidably connected in the through hole (17), and the top end of the latch (18) is fixedly connected to the spring piece (16); A first bevel (19) for engaging the end cover is cut on the side of the bottom end of the latch pin (18) opposite to the opening of the latch slot (15), and a second bevel (20) for releasing the end cover is cut on the end of the bottom end of the latch pin (18) opposite to the slide slot (5).

4. The robot micro motor end cap punching device according to claim 3, characterized in that: A semicircular top cover (21) is fixedly provided on the top of the base (1), and two screw rods (22) controlled by a motor are rotatably provided inside the top cover (21), and a ring rail (23) is movably connected to the two screw rods (22) in an up-and-down direction, and a rotating frame (24) controlled by a motor is rotatably provided inside the ring rail (23), and a slide seat (25) controlled by a motor is slidably connected to the rotating frame (24), and the drilling machine (2) is fixedly mounted on the slide seat (25).

5. The robot micro motor end cap punching device according to claim 4, characterized in that: A plurality of positioning magnetic seats (26) matching with the magnetic blocks (14) are fixedly arranged inside the base (1).

6. The robot micro motor end cap punching device according to claim 5, characterized in that: The top of the ring seat (3) is rotatably connected to a control ring (27), and a surface of the control ring (27) is provided with an inclined groove (28) corresponding to the clamping block (6). The top of the ring seat (3) is provided with a through groove (29) connected to the slide groove (5). The top of the clamping block (6) is fixedly connected to a connecting rod (30), and the connecting rod (30) passes through the through groove (29) and extends into the inclined groove (28).

7. The robot micro motor end cap punching device according to claim 1, characterized in that: The top of the inner support (4) is provided with a plurality of rolling balls which cooperate with the end cover.

8. A method for using a robot micro motor end cap punching device, using the robot micro motor end cap punching device as claimed in claim 6, characterized in that: The steps include: S1. Place the end cap of the robot micro motor to be processed into the ring seat (3) and press it downward. The end cap squeezes the card block (6) along the oblique opening (8) and retracts into the slide groove (5) until the end cap falls on the inner support (4). At this time, the card block (6) is reset and popped out to be stuck on the upper side of the end cap, and cooperates with the inner support (4) to limit the up and down movement of the end cap. When the card block (6) pops out, the card plate (9) at the bottom thereof is synchronously pressed against the side of the end cap to limit the translational movement of the end cap. S2. After the end cover is completed, the slide (25) moves along the rotating frame (24) to drive the drilling machine (2) to translate and adjust the drilling position. Before the translation, the rotating frame (24) is adjusted along the circular rail (23) to adjust the drilling range. Then, the screw rod (22) is rotated to drive the circular rail (23) and the drilling machine (2) to move up and down to perform drilling. S3, when the clamping block (6) is pressed and rebounds, the pressing pin (10) moves synchronously and pushes the ring frame (12) to rotate along the bevel teeth (13). During this process, the magnetic block (14) on the ring frame (12) exerts magnetic traction along the connecting block of the outer ring of the end cover, so that the end cover rotates along the inner support (4) until the connecting block is horizontally inserted into the clamping slot (15); S4. When the connecting block of the end cover enters the slot (15), the connecting block pushes up the latch pin (18) along the first oblique edge (19), so that the latch pin (18) is inserted into the hole on the surface of the connecting block. At this time, the end cover cannot rotate along the slot (15). After the punching is completed, the control ring (27) is used to control the block (6) to retract into the slide groove (5), and the latch pin (18) is pushed up along the second oblique edge (20), so that the clamping plate (9) and the connecting block are unlocked.

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